Questions tagged [differential-drive]

Differential drive is a commonly used drive system, which consists of two independently controlled wheels.

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What ROS2 Topic can I use to detect when a robot does a left or right turn?

I'm working with a tank-style, differential-wheeled robot and facing a challenge in achieving precise directional control. Specifically, when the robot attempts to turn left or right, it tends to ...
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I work with Humble ROS and I want to use ros_control

I installed all packages I need and write my controll.xacro file and my_controller.yaml file and write launch file correctly and ...
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How can I differentiate between a dynamic obstacle and a static obstacle on local_costmap?

I'am a starter on ROS. I'am making my own point follower, a robot that follows a "clicked_point" in a map. So, currently, I'am stopping my robot if anything is too close to it, but I wanted ...
defend's user avatar
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Different turn rates in rviz and gazebo leading to big desync between them

I've been building a 4 wheel differential drive robot (all 4 wheels have motors) and I've noticed that when I control the robot, in Gazebo it barely turns while in RViz it turns a lot more. This ...
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Ros2_control PID controller

I have a ros2_control hardware interface that I made based on the ros2 control demos repo. However it's just an open loop controller and I'm trying to figure out how to implement the PID portion based ...
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laser_frame is moving

When I launch AMCL and give initial pose , the amcl launched terminal shows: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1706706126....
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How to make 4 wheeled robot work with DiffDrive plugin and ROS2 Control?

I have a 4 wheeled robot with mecanum wheels (in real life), I have been able to simulate it and get it to work with the ROS2 DiffDrive plugin (replicating the skid steer plugin from ROS1) but now ...
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help with moving wheels of robot in gazebo

I'm using UBUNTU ros2 Humble I've been trying to control my robot in gazebo. I have tried several plugins to run it, but to no avail. I figured it could be that in my URDF, my wheel is connected to a ...
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error while using diff_drive plugin

I am using ubuntu 22.04 humble ros2. I am trying to run a robot with wheels on gazebo using the differential drive plugin from https://classic.gazebosim.org/tutorials?tut=ros_gzplugins. When i try to ...
aman noufel's user avatar
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Incorrect values of encoder for mbot Ranger

I have an mbot ranger which uses the 180 Optical Encoder Motor (https://support.makeblock.com/hc/en-us/articles/12376087604887-About-180-Optical-Encoder-Motor-for-mBot-Ranger-). My final goal is to ...
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Problem in reading an incremental encoder simulink

I'm trying to read an encoder to receive a velocity value. The robot is a differential drive robot based on ROS, to which I can send commands to the right and left wheels ranging from 0 to 1. Where 0 ...
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Simulating more powerful motors in Gazebo?

Is there a way to get Gazebo to recognize the power of a motor? I have a couple of powerful motors in my differential drive robot that given the weight of the robot I should be doing 16 feet/second ...
viper's user avatar
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Configure diff_drive_controller in open loop on a real robot

I would like to use the diff_drive_controller package for my real robot. This robot doesn't have any wheel encoders so I configured the controller as open loop. ...
Antoine Van Malleghem's user avatar
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SW2URDF model is floating in Gazebo

I get my URDF using SW2URDF plugin in SolidWorks. Iam following this instruction. From the instruction, I need to add link and joint as "world" and set the child link to the base link, (It ...
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Nav2 Robot Cant Create Valid Plan

I use dwb local planner and Smac2d Global Planner, ı have this error when give nav2 goal and robot starts recovery always. Can you help me, which parameters related with this. https://drive.google.com/...
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My Robot is Having Trouble Sharp Turn and Narrow Corridor

https://youtu.be/-bgO7hgdRD4 https://www.youtube.com/watch?v=hppDQvYpovI Hi everyone, ı build a robot which is rectangular shape 42cmx23cm, ı get into the 40cm narrow corridors and robots can get into ...
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Rotating arm mounted on a differential base?

First time on this forum and I’d like to ask about a project I’d want to do. I’d like to build a robot, preferably on a differential drive base (two driving wheels, one or two caster wheels) and have ...
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Robot moves only forward for Twist msgs with angular velocity component

Environment: Ubuntu 22.04, ROS2 Humble, Gazebo Fortress. Installed everything from apt repos I am trying to learn ROS2 navigation2 from scratch and have created a ...
ASH's user avatar
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ROS2 Control For VESC (motor controller) not working with two VESCs

I am currently working on a project to make a four-wheeled differential drive robot using 4 VESCs with ROS2 as the means of communication. Two vesc will be masters and the rest two will be slaves. I ...
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Robot tires slipping in Gazebo Ignition. Odometry going wrong hence

I am simulating a 4 wheel differential drive robot in Gazebo Fortress. However, my friction settings seem to be incorrect because my tires slip a lot more than the robot turns and hence my odometry ...
Kaushal Sorte's user avatar
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Steer to a pose for a differential drive robot

I am working on a diff-drive robot that needs to go and dock into a docking station to charge when the battery is low. The charging socket is on the back of the robot, like a vacuum cleaner, so this ...
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ros2_control: No parameter file provided. Configuration might be wrong. failed to parse input yaml file(s)

I am trying to build a 4 wheel differential drive robot. But i am getting error when using ros2_control. Version: Ros2 Foxy Terminal Output ...
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Helping diff. drive robot get through doorways

Hey folks! I'm working on a differential drive SLAM robot and I have things working pretty well. I'm able to: Create a map of my apartment using slam_toolbox Navigate from room to room using Nav2 and ...
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How do I make a robot imported using urdf and ROS2 gravity? It just floats

I can't seem to find any examples with imported URDFs (the universal robot examples don't seem to have any physics settings beyond joint inertias etc). My robot has mass from the urdf: But it seems ...
Craig MS's user avatar
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Where should I write and call GPIO port connection in the hardware interface in ros2_control for control of robot movement on Raspberry Pi 4?

I am using ROS 2 Humble on Raspberry Pi 4(Ubuntu 22.04 OS). I am trying to build 2-wheeled diff-drive mobile robot and using ros2_control for controlling, but I'm ...
Shah's user avatar
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Diff-drive robot - Obstacle avoiding - random walk

I have implemented a logic-based algorithm for obstacle avoidance in a differential drive robot with 5 IR sensors. I want the robot in space, for example, a square room, to move freely and avoid ...
BiLLaKoS's user avatar
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Control a differential drive robot

I have some questions about implementing a mobile robot. I have an old construction mobile robot wherein this robot the main controller has been removed, and I put in its place a Raspberry Pi 4. I ...
BiLLaKoS's user avatar
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1 answer
348 views

Differential Drive Control Techniques

I have a mobile robot that has a differential drive technique. I try to control the robot with PID controller. Is the best way for controlling differential drive robots? If I want to compare different ...
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How to connect cmd_vel to motor_command in ROS

I have a motor driver for a BLDC wheel. I have successfully made the motor driver and ROS connections and when I send motor_command as in the "user manual" of the motor drivers, my wheels ...
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How do you use the differential_drive package

I looked at the ros documentation for the package but found the documentation was outdated, so I'm asking how do you use it in Noetic Originally posted by bribri123 on ROS Answers with karma: 36 on ...
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Center line steering with differential drive

I’ve got 2 motors that drives my unit and I can easily steer it manually by simply adding more speed to one wheel vs the other. Now I’m automating the rover using image processing to follow a driveway....
DaveInPA's user avatar
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Drive unicycle kinematics equations through the geometry

The unicycle dynamics in discrete-time is given by: $$ \begin{array}{l} {x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \cos ({\theta _{k + 1}})\\ {x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \sin (...
sci9's user avatar
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How do you model a physical robot (diff drive) in python?

I am using PyGame to simulate the motion of a differential drive robot. So far, I have used the standard diff drive kinematics, multiplying by delta time, and I have the motion working as expected. ...
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HECTOR SLAM, odometry in a low cost differential drive robot

I'm a noob in robotics trying to evaluate requirements for a low cost differential drive indoor robot. Would highly appreciate comments on the following questions. Given the inaccuracies in the wheel ...
amitjo's user avatar
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3 votes
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How to find angular velocity using pure pursuit algorithm?

I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper: http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
Luke H's user avatar
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How to choose closest angle when crossing -180 degrees

I'm applying a PID for position control on a diff drive robot, got the angles (orientation )between -pi and pi. It works fine until it needs to change its orientation from (let's say) -170 degrees to ...
Leandro Ponce's user avatar
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142 views

Differential Drive using shopping cart-style casters

I thought I would be clever and use TWO shopping-cart-style casters (more stable) instead of the ONE usual omnidirectional ball caster. Now that I am running it I am almost positive that the ...
pitosalas's user avatar
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2 answers
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How to handle motor stall zones in differential drive point-forward go to goal algorithm?

I am implementing the Go To Goal algorithm for a differential drive robot as described here and in this video. The issue I have is that there is a large dead zone in pwm values where the motors are ...
Ezward's user avatar
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How to use SLAM generated map to navigate my robot to the destination?

I am trying to understand various SLAM algorithms. In my case, I need my robot to start from point A and reach point B with maximum accuracy as well as precision for all the cases. Note that, as the ...
Pe Dro's user avatar
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Differential steering

I'm hoping to build a 40kg rover for running on soft and loose dirt by using fewer than 4 motors. Does anyone know if differential steering is possible on 3 actuated wheels? That is, two at the front ...
John M.'s user avatar
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How to make my robot move parallel to edge of the table?

I have an autonomous differential drive robot that moves on the floor and its purpose is to always move parallel to the longer edge of the table (just assume that the table never ends). It looks ...
Pe Dro's user avatar
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How do robots move parallel to a wall/line?

I have been studying robotics by myself, lately. I noticed that there are various mapping, localization methods (popularly under SLAM), but are there concepts relating to the robot moving in a ...
Pe Dro's user avatar
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How to design a robot chassis so as to avoid bending issues?

I'm good on the programming, control systems and electronics aspect of robotics, but need help with a problem with mechanical design. How do I avoid bending of my chassis due to weight? It is a 2 ...
jash's user avatar
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Problem with gazebo differential drive plugin

Hi Everyone, I want to launch a gazebo (11) world and model in ROS Noetic. This also contains differential drive controller defined as follows: ...
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How to estimate velocity from robot_pose_ekf

I have a differential drive mobile robot. and I am using robot_pose_ekf to estimate the state of the robot [x,y,θ] How to estimate [v,ω ] the translational and rotational velocities. from ...
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Extended Kalman filtering for IMU and Encoder

I am trying to fuse IMU and encoder using extended Kalman sensor fusion technique. how do I fuse IMU pitch, roll with the orientation data I obtained from the encoder. Also, how do I use my position x ...
oluwayinka esan's user avatar
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1 answer
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Motor acceleration and position with PID control

I'm working on a robot with differential drive (2 drive wheels equipped with rotary encoders and 4 free spinning omni wheels for stability) and each wheel is controlled via a separate arduino nano. I ...
OM222O's user avatar
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Advantage of Kalman filter in differential drive planar robot

We need to estimate the position and orientation of differential drive robot by using encoders and imu sensor. For this specific case, is there any advantage of using Kalman filter than taking the ...
Pasha's user avatar
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Going from Spline to Differential Drive Command

I have a differential drive robot that needs to move along a path stored in its memory as a spline. I am currently trying to understand the mathematics of determining how much power to apply to each ...
Andrew Carluccio's user avatar
1 vote
3 answers
154 views

Arduino for mobile robot

Is it possible to drive the whole mobile differential drive robot with single arduino? Sonar sensor, servo motor, two encoders, two motors, imu, etc. I mean would it give a reasonable performance or ...
Pasha's user avatar
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